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<div class="title">intersections.h</div>  </div>
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<a href="intersections_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_INTERSECTIONS_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_INTERSECTIONS_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2distances_8h.html">pcl/common/distances.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <a class="code" href="group__common.html#ga9b79c559e12f4aacb41825f8b43840c2">lineWithLineIntersection</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;line_a, </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                            <span class="keyword">const</span> Eigen::VectorXf &amp;line_b, </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;                            Eigen::Vector4f &amp;point,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                            <span class="keywordtype">double</span> sqr_eps = 1e-4);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="group__common.html#ga9b79c559e12f4aacb41825f8b43840c2">lineWithLineIntersection</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;line_a, </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                            <span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;line_b, </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                            Eigen::Vector4f &amp;point,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                            <span class="keywordtype">double</span> sqr_eps = 1e-4);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  PCL_EXPORTS <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">   91</a></span>&#160;  <a class="code" href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">planeWithPlaneIntersection</a> (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_a,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                              <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_b,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                              Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;line,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                              <span class="keywordtype">double</span> angular_tolerance = 0.1);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">planeWithPlaneIntersection</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;plane_a,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                              <span class="keyword">const</span> Eigen::Vector4f &amp;plane_b,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                              Eigen::VectorXf &amp;line,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                              <span class="keywordtype">double</span> angular_tolerance = 0.1)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">return</span> (planeWithPlaneIntersection&lt;float&gt; (plane_a, plane_b, line, angular_tolerance));</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  planeWithPlaneIntersection (<span class="keyword">const</span> Eigen::Vector4d &amp;plane_a,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                              <span class="keyword">const</span> Eigen::Vector4d &amp;plane_b,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                              Eigen::VectorXd &amp;line,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                              <span class="keywordtype">double</span> angular_tolerance = 0.1)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span> (planeWithPlaneIntersection&lt;double&gt; (plane_a, plane_b, line, angular_tolerance));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  PCL_EXPORTS <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">  126</a></span>&#160;  <a class="code" href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">threePlanesIntersection</a> (<span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_a,</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_b,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;plane_c,</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;intersection_point,</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                           <span class="keywordtype">double</span> determinant_tolerance = 1e-6);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <a class="code" href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">threePlanesIntersection</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;plane_a,</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;plane_b,</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;plane_c,</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                           Eigen::Vector3f &amp;intersection_point,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                           <span class="keywordtype">double</span> determinant_tolerance = 1e-6)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span> (threePlanesIntersection&lt;float&gt; (plane_a, plane_b, plane_c,</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                            intersection_point, determinant_tolerance));</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  PCL_EXPORTS <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  threePlanesIntersection (<span class="keyword">const</span> Eigen::Vector4d &amp;plane_a,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4d &amp;plane_b,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4d &amp;plane_c,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                           Eigen::Vector3d &amp;intersection_point,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                           <span class="keywordtype">double</span> determinant_tolerance = 1e-6)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span> (threePlanesIntersection&lt;double&gt; (plane_a, plane_b, plane_c,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                            intersection_point, determinant_tolerance));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/intersections.hpp&gt;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_INTERSECTIONS_H_</span></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html">distances.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga9b79c559e12f4aacb41825f8b43840c2"><div class="ttname"><a href="group__common.html#ga9b79c559e12f4aacb41825f8b43840c2">pcl::lineWithLineIntersection</a></div><div class="ttdeci">PCL_EXPORTS bool lineWithLineIntersection(const pcl::ModelCoefficients &amp;line_a, const pcl::ModelCoefficients &amp;line_b, Eigen::Vector4f &amp;point, double sqr_eps=1e-4)</div><div class="ttdoc">Get the intersection of a two 3D lines in space as a 3D point</div><div class="ttdef"><b>Definition:</b> intersections.hpp:66</div></div>
<div class="ttc" id="aintersections_8h_html_a425e0506b2af1892e706a2375b9fd0bc"><div class="ttname"><a href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">pcl::planeWithPlaneIntersection</a></div><div class="ttdeci">PCL_EXPORTS bool planeWithPlaneIntersection(const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_a, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_b, Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt; &amp;line, double angular_tolerance=0.1)</div><div class="ttdoc">Determine the line of intersection of two non-parallel planes using lagrange multipliers</div></div>
<div class="ttc" id="aintersections_8h_html_ac2056989ddf42f3c88d85b4d0e5c79a7"><div class="ttname"><a href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">pcl::threePlanesIntersection</a></div><div class="ttdeci">PCL_EXPORTS bool threePlanesIntersection(const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_a, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_b, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_c, Eigen::Matrix&lt; Scalar, 3, 1 &gt; &amp;intersection_point, double determinant_tolerance=1e-6)</div><div class="ttdoc">Determine the point of intersection of three non-parallel planes by solving the equations.</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
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